MCGS-SLAM

A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping

Anonymous Author
Code and data [Available Upon Acceptance]

SLAM System Pipeline

Our method performs real-time SLAM by fusing synchronized inputs from a multi-camera rig into a unified 3D Gaussian map. It first selects keyframes and estimates depth and normal maps for each camera, then jointly optimizes poses and depths via multi-camera bundle adjustment and scale-consistent depth alignment. Refined keyframes are fused into a dense Gaussian map using differentiable rasterization, interleaved with densification and pruning. An optional offline stage further refines camera trajectories and map quality. The system supports RGB inputs, enabling accurate tracking and photorealistic reconstruction.

Right Image

Black.panther.wakanda.forever.2022.multi.720p.b... ✰

: As world powers hunt for Vibranium, the hidden civilization of Talokan is revealed. Namor presents Wakanda with an ultimatum: join him in a war against the surface world or be destroyed.

The "MULTi.720p" tag in your topic suggests a specific viewing experience:

: Angela Bassett’s performance earned her an Academy Award nomination, marking a historic milestone for Marvel Studios, while the film's production design and soundtrack (featuring Rihanna’s "Lift Me Up") were widely praised for their cultural depth. Technical File Specifications

: The central arc follows Shuri’s journey from a scientist driven by logic and grief to a leader who must decide what kind of Black Panther the world needs.

Analysis of Single-Camera and Multi-Camera SLAM (Mapping)

: As world powers hunt for Vibranium, the hidden civilization of Talokan is revealed. Namor presents Wakanda with an ultimatum: join him in a war against the surface world or be destroyed.

The "MULTi.720p" tag in your topic suggests a specific viewing experience: Black.Panther.Wakanda.Forever.2022.MULTi.720p.B...

: Angela Bassett’s performance earned her an Academy Award nomination, marking a historic milestone for Marvel Studios, while the film's production design and soundtrack (featuring Rihanna’s "Lift Me Up") were widely praised for their cultural depth. Technical File Specifications : As world powers hunt for Vibranium, the

: The central arc follows Shuri’s journey from a scientist driven by logic and grief to a leader who must decide what kind of Black Panther the world needs. Black.Panther.Wakanda.Forever.2022.MULTi.720p.B...

Analysis of Single-Camera and Multi-Camera SLAM (Tracking)

In this section, we benchmark tracking accuracy across eight driving sequences from the Waymo dataset (Real World). MCGS-SLAM achieves the lowest average ATE, significantly outperforming single-camera methods.
Right Image

We further evaluate tracking on four sequences from the Oxford Spires dataset (Real World). MCGS-SLAM consistently yields the best performance, demonstrating robust trajectory estimation in large-scale outdoor environments.
Right Image

Right Image